US8061208B2 - Non-destructive pipe scanner - Google Patents
Non-destructive pipe scanner Download PDFInfo
- Publication number
- US8061208B2 US8061208B2 US12/431,856 US43185609A US8061208B2 US 8061208 B2 US8061208 B2 US 8061208B2 US 43185609 A US43185609 A US 43185609A US 8061208 B2 US8061208 B2 US 8061208B2
- Authority
- US
- United States
- Prior art keywords
- carriage
- scanner system
- tensioner
- wheels
- idler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active, expires
Links
- 229910000639 Spring steel Inorganic materials 0.000 claims 1
- 230000001066 destructive effect Effects 0.000 abstract description 5
- 239000000523 sample Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/262—Arrangements for orientation or scanning by relative movement of the head and the sensor by electronic orientation or focusing, e.g. with phased arrays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/267—Welds
- G01N2291/2675—Seam, butt welding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Definitions
- This invention pertains generally to non-destructive pipe scanners and, more particularly, to pipe scanners that are designed to operate in tight clearance areas.
- Non-destructive examination of pipes and, more particularly, pipe welds has a number of applications, few more critical than the inspection of pipe welds in fossil fuel power generating facilities and nuclear power plants.
- the pipes are often arranged close to each other and extend through concrete structures providing little room to maneuver and inspect the pipe seams over their 360° circumference to detect flaws in the welds.
- a number of the pipes can only be accessed from one axial end through a blind opening and have limited access circumferentially with clearances as little as 1.35 inch (3.4 cm).
- a number of the pipes vary in diameter from 6.63 inches (16.8 cm) to 24 inches (61 cm) or larger, which makes it difficult to find scanners that can effectively monitor the welds on such piping. Accordingly, there is an increasing demand for highly specialized scanners to deliver sensors such as phased array ultrasonic probes too difficult to access areas.
- the scanner system includes a main carriage with wheels at either end and a frame that extends therebetween that supports a non-destructive sensor.
- the system also includes a tensioner carriage with wheels at either end and a frame with a variable length connection therebetween.
- the system includes one or more idler carriages having wheels at either end and a frame that extends therebetween.
- a spring band extends from one end of the main carriage around the tubular object and over the idler carriage to one end of the tensioner carriage which is preferably positioned approximately diametrically opposed to the main carriage.
- a spring band extends around the other side of the circumference of the tubular object from the other end of the main carriage over an idler carriage to the other end of the tensioner carriage.
- the variable length connection on the tensioner carriage is adjusted to place the spring band under tension and urge the main carriage, the tensioner carriage and the idler carriages against the outer circumference of the tubular object.
- the main carriage can then be driven around the outer circumference of the tubular object so that the on-board non-destructive sensor can scan the weld over the 360° circumference.
- the main carriage frame has an adjustable frame member that indexes the sensor in an axial direction along a longitudinal dimension of the tubular object.
- the adjustable frame member may be manually or motor driven and can have an encoder to index the sensor's position.
- at least one wheel of the main carriage has an encoder attached thereto to index the data received from the sensor.
- At least one of the wheels of the main carriage is a drive wheel that is magnetic to gain traction on the tubular object.
- the drive wheel may be motorized and remotely operated.
- variable length connection on the tensioner is a scissor mechanism that spans the frame between the forward and rear wheels.
- the scissor mechanism is opened and closed by the rotation of a single screw that preferably cannot be back driven.
- the frame on the main carriage is arched between the forward and rear wheels.
- the frames on the tensioner carriage and the idler carriages are similarly arched.
- FIG. 1 is a front view of two concentric pipes with a small clearance therebetween in which the scanning system of this invention is mounted with a second system mounted on the outer circumference of the larger pipe;
- FIG. 2 is a plan view of the main carriage of this invention.
- FIG. 3 is a side view of the main carriage shown in FIG. 2 ;
- FIG. 4 is a cross-sectional view taken through the lines 4 - 4 of FIG. 3 ;
- FIG. 5 is a cross-sectional view taken along the lines 5 - 5 of FIG. 2 ;
- FIG. 6 is perspective view of the tensioner carriage of this invention.
- FIG. 7 is a plan view of the tensioner carriage illustrated in FIG. 6 ;
- FIG. 8 is a side view of the tensioner carriage illustrated in FIG. 6 ;
- FIG. 9 is a plan view of the tensioner carriage shown in FIG. 6 with the variable length connection substantially completely extended;
- FIG. 10 is a plan view of the tensioner carriage shown in FIG. 6 with the variable length connection substantially retracted;
- FIG. 11 is a plan view of the idler carriage of this invention.
- FIG. 12 is side view of the idler carriage illustrated in FIG. 11 .
- FIG. 1 is a mock-up of a power plant piping system that shows two concentric pipes 12 and 14 with a narrow clearance 26 therebetween in which the carriages of this invention 16 , 18 and 20 are mounted.
- the carriages 16 , 18 and 20 are urged against the outer circumference of the inner pipe 14 by the spring bands 22 that are connected between the main carriage 16 and the tensioner carriage 20 and over the idler carriages 18 .
- the outer circumference of the outer pipe 12 has a similar scanner arrangement to illustrate that the scanner system of this invention can be used to inspect circumferential welds on almost any size pipe and more preferably those having outside diameters which range from 6.63 inches (16.8 cm) to 24 inches (61 cm) or larger.
- the main carriage 16 includes a flat bearing way 50 that supports the sensor 24 .
- the senor 24 extends from the side of the main carriage 16 and can focus a transducer such as an ultrasonic phased array on the weld as the main carriage 16 drives around the outer circumference and over the weld of the pipe or other tubular object.
- the main carriage 16 also drives the idler carriages 18 and the tensioner carriage 20 through the spring bands 22 .
- FIG. 2 is a plan view of the main carriage 16 and FIG. 3 is a side view of the main carriage shown in FIG. 2 .
- the main carriage has an arched frame 26 that supports the axels 32 and 40 (shown in phantom) on which the laterally spaced wheels 28 and 30 and 36 and 38 rotate. The axels are captured and held in place by the axel nuts 34 .
- a front and rear frame extension 40 and 42 extend outwardly from the central frame between the wheels 36 and 38 and 28 and 30 .
- Each frame extension 40 and 42 include two screws 46 that are used to anchor the ends of the corresponding spring band.
- the front axel 40 has a motor/encoder for driving the wheels 36 and 38 and indexing the position which corresponds to the data received by the sensor 24 so that the location of defects can be identified.
- the sensor 24 can be an ultrasonic phased array, an eddy current probe, a video camera or any other non-destructive sensor that is capable of surveying the weld.
- the wheels 36 and 38 are magnetized to increase their traction on the pipe surface.
- the sensor 24 is supported with a lead screw 52 and a flat bearing way 50 .
- the lead screw 52 is used to translate the sensor 24 axially along the pipe for fine tuning or indexing.
- the lead screw 52 may be operated manually or may be motorized and include an encoder for indexing the sensor's position.
- the motor/encoder is figuratively shown in FIG. 2 as 102 .
- FIG. 5 which is a cross section taken along the lines 5 - 5 of FIG. 2 , the sensor 24 is biased with the springs 54 against the surface of the pipe to accommodate anomalies in the pipe surface and assure good signal coupling.
- FIG. 6 shows a perspective view of the tensioner carriage 20 .
- the tensioner carriage 20 has a forward frame portion 56 and a rear frame portion 58 that is connected together with a variable length connection 60 .
- a scissor coupling arrangement is shown in FIG. 6 for the variable length connection, it should be appreciated that other mechanical couplings that are adjustable to change the spacing between the front frame section 56 and the rear frame section 58 can be employed.
- the distance between the front frame portion 56 and the rear frame portion 58 is adjusted with a single screw 62 that is not back drivable, which means that the screw, once adjusted, retains its position during operation.
- the front frame section 56 is supported laterally with respect to the rear frame section 58 by a frame tie plate 64 that is connected via standoffs 68 to the frame sections 56 and 58 with bolts 70 .
- the spring bands are connected to the front of the tensioner carriage at the attachment plate 86 and to the rear of the carriage at the attachment plate 84 with the screws 80 .
- a quick latching operation of the spring band to the rear attachment plate 84 can be achieved by inserting a clevis pin through the spring band and into the clevis slot 82 .
- the adjustment screw 62 allows for infinite adjustment within the operating range of diameters addressed rather than in finite increments.
- FIG. 7 is a plan view of the tensioner carriage illustrated in FIG. 6 and FIG. 8 is a side view of the tensioner carriage 20 illustrated in FIG. 7 .
- FIG. 9 is a plan view showing the scissor connection 60 between the front frame section 56 and the rear frame section 58 in the fully extended position.
- FIG. 10 is a plan view of the tensioner carriage 20 with the variable length connection, e.g., the scissor connection illustrated in FIG. 10 , in the fully retracted position.
- FIG. 11 A plan view of the idler carriage 18 is shown in FIG. 11 and a side view of the idler carriage 18 is shown in FIG. 12 .
- the idler carriage 18 has an arched frame 88 similar to that described for the main carriage.
- the frame 88 supports two laterally spaced wheel pairs 90 and 92 at one end and 94 and 96 at the other end.
- Two lines of screws 98 and 100 form a guide that slidably receives the spring band under the screw heads between the spring band bearing plates 102 and 104 .
- the idler carriage 18 is free to slide along the spring band for ease of setup and can be locked in place with, for example, a screw 80 prior to scanning.
- the idler carriage's function is to raise the spring band above the surface of the pipe to minimize friction that might impede movement of the main carriage 16 .
- One or more idler carriages 18 may be employed depending upon the diameter of the pipe that is being surveyed.
- the spring bands that hold the carriages together may be constructed out of steel or other suitable material. In the event the drive wheels are magnetized it may be desirable to use a nonmagnetic material for the spring bands.
- the length of the spring bands are determined by the diameter of the pipe undergoing inspection.
- the invention provides a convenient relatively light weight inspection scanner tool that can fit in spaces having clearances of as little as 1.35 inch (3.4 cm) and can be used on various diameter piping by merely changing the length of the spring bands.
- the scanner of this invention can be used in blind passages by insertion through the open end and all of the necessary adjustments can be made from that one end.
- the scanner of this invention is designed to do a full 360° scan with the capacity to index the probe along the axis of the pipe to focus the probe if necessary.
- the indexing of the probe may be accomplished manually or through the use of a motorized drive.
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- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Electrochemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
Description
Claims (18)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/431,856 US8061208B2 (en) | 2009-04-29 | 2009-04-29 | Non-destructive pipe scanner |
JP2012508537A JP5575878B2 (en) | 2009-04-29 | 2010-04-22 | Non-destructive pipe scanner |
KR1020117025508A KR101620658B1 (en) | 2009-04-29 | 2010-04-22 | Non-destructive pipe scanner system |
ES10715075T ES2419705T3 (en) | 2009-04-29 | 2010-04-22 | Non Destructive Pipeline Inspection System |
EP10715075.7A EP2425435B1 (en) | 2009-04-29 | 2010-04-22 | Non-destructive pipe scanner system |
PCT/US2010/031972 WO2010126764A2 (en) | 2009-04-29 | 2010-04-22 | Non-destructive pipe scanner |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/431,856 US8061208B2 (en) | 2009-04-29 | 2009-04-29 | Non-destructive pipe scanner |
Publications (2)
Publication Number | Publication Date |
---|---|
US20100275691A1 US20100275691A1 (en) | 2010-11-04 |
US8061208B2 true US8061208B2 (en) | 2011-11-22 |
Family
ID=42199772
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/431,856 Active 2030-07-21 US8061208B2 (en) | 2009-04-29 | 2009-04-29 | Non-destructive pipe scanner |
Country Status (6)
Country | Link |
---|---|
US (1) | US8061208B2 (en) |
EP (1) | EP2425435B1 (en) |
JP (1) | JP5575878B2 (en) |
KR (1) | KR101620658B1 (en) |
ES (1) | ES2419705T3 (en) |
WO (1) | WO2010126764A2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110219881A1 (en) * | 2010-01-28 | 2011-09-15 | Girndt Richard J | Method and apparatus for inspecting flaws in oil field tubulars |
US20150308981A1 (en) * | 2014-04-25 | 2015-10-29 | Bwxt Intech, Inc. | Inspection system for inspecting in-service piping or tubing |
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US8418662B2 (en) * | 2008-07-18 | 2013-04-16 | Korea Plant Service & Engineering Co., Ltd. | Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator |
US20110000302A1 (en) * | 2009-07-01 | 2011-01-06 | Xavier Georges Jose Deleye | Method for ultrasonic inspecting a substantially circumferential weld and an apparatus for carrying out such method |
EP2691736B1 (en) * | 2011-03-31 | 2016-03-30 | Atomic Energy of Canada Limited | Profiling tool for determining material thickness for inspection sites having complex topography |
CN103863431B (en) * | 2012-12-17 | 2017-07-14 | 核动力运行研究所 | A kind of reactor pressure vessel bolt hole closed-circuit television checking device walking mechanism |
DE102013000685B4 (en) | 2013-01-11 | 2014-11-13 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Mobile support system for at least one designed for nondestructive testing sensor element |
US9791145B2 (en) * | 2013-03-14 | 2017-10-17 | Westinghouse Electric Company Llc | Method and apparatus for manipulating equipment inside a steam generator |
CN104713948B (en) * | 2013-12-13 | 2018-12-28 | 通用电气公司 | Wheel fault detecting device and method of detection |
US10073062B2 (en) * | 2014-09-05 | 2018-09-11 | General Electric Company | System and method for inspecting flange connections |
KR102038101B1 (en) * | 2017-12-29 | 2019-11-26 | 한국수력원자력 주식회사 | Scanner for welded part of pipe |
US11815788B2 (en) * | 2021-05-04 | 2023-11-14 | Purdue Research Foundation | Phenotyping imaging system with automatic leaf-handling mechanism |
CN114166932B (en) * | 2021-12-06 | 2023-09-22 | 上海电气自动化设计研究所有限公司 | Nondestructive inspection robot for generator rotor guard ring |
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GB2032046A (en) | 1978-09-26 | 1980-04-30 | Sgs Sonomatic Ltd | Circumnavigating continuous surfaces |
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WO1992006372A1 (en) | 1990-10-09 | 1992-04-16 | Usp Ultraschall Prüf-Service Gmbh | Drive unit for an inspection head for circular-seam pipe welds |
WO1995025278A1 (en) | 1994-03-17 | 1995-09-21 | Framatome | Non-destructive ultrasonic testing device for testing a cylindrical wall accessible through a narrow ring-shaped passage |
US6137853A (en) * | 1994-10-13 | 2000-10-24 | General Electric Company | Method and apparatus for remote ultrasonic inspection of nozzles in vessel bottom head |
JP2001305116A (en) | 2000-04-27 | 2001-10-31 | Ishikawajima Harima Heavy Ind Co Ltd | Piping inspecting instrument |
JP2003270223A (en) | 2002-03-18 | 2003-09-25 | Non-Destructive Inspection Co Ltd | Apparatus and method for inspecting pipe |
US7398697B2 (en) * | 2004-11-03 | 2008-07-15 | Shell Oil Company | Apparatus and method for retroactively installing sensors on marine elements |
US20090038398A1 (en) * | 2003-11-14 | 2009-02-12 | Hydro-Quebec | Motorized bracelet assembly for moving sensor modules around a pipe |
US20100275694A1 (en) * | 2009-05-04 | 2010-11-04 | Westinghouse Electric Company, Llc | Pipe scanner |
US7852073B2 (en) * | 2007-06-25 | 2010-12-14 | Southwest Research Institute | Method and device for long-range torsional guided-wave inspection of piping with a partial excitation and detection around the pipe circumference |
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SU896557A1 (en) * | 1980-04-03 | 1982-01-07 | Предприятие П/Я Р-6476 | Device for ultrasonic inspection |
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JP4500413B2 (en) * | 2000-06-23 | 2010-07-14 | 出光エンジニアリング株式会社 | Inspection method and inspection equipment such as thinning due to surface wave |
JP4646201B2 (en) | 2004-12-14 | 2011-03-09 | 財団法人電力中央研究所 | Automatic ultrasonic flaw detector for tubular structures |
-
2009
- 2009-04-29 US US12/431,856 patent/US8061208B2/en active Active
-
2010
- 2010-04-22 WO PCT/US2010/031972 patent/WO2010126764A2/en active Application Filing
- 2010-04-22 EP EP10715075.7A patent/EP2425435B1/en active Active
- 2010-04-22 ES ES10715075T patent/ES2419705T3/en active Active
- 2010-04-22 KR KR1020117025508A patent/KR101620658B1/en active IP Right Grant
- 2010-04-22 JP JP2012508537A patent/JP5575878B2/en active Active
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GB2032046A (en) | 1978-09-26 | 1980-04-30 | Sgs Sonomatic Ltd | Circumnavigating continuous surfaces |
US4331034A (en) * | 1979-04-09 | 1982-05-25 | The Chugoku Electric Power Co., Inc. | Ultrasonic probing apparatus |
US4767048A (en) | 1986-09-16 | 1988-08-30 | Kinetic Energy Corp. | Mobile robotic platform |
WO1992006372A1 (en) | 1990-10-09 | 1992-04-16 | Usp Ultraschall Prüf-Service Gmbh | Drive unit for an inspection head for circular-seam pipe welds |
WO1995025278A1 (en) | 1994-03-17 | 1995-09-21 | Framatome | Non-destructive ultrasonic testing device for testing a cylindrical wall accessible through a narrow ring-shaped passage |
US6137853A (en) * | 1994-10-13 | 2000-10-24 | General Electric Company | Method and apparatus for remote ultrasonic inspection of nozzles in vessel bottom head |
JP2001305116A (en) | 2000-04-27 | 2001-10-31 | Ishikawajima Harima Heavy Ind Co Ltd | Piping inspecting instrument |
JP2003270223A (en) | 2002-03-18 | 2003-09-25 | Non-Destructive Inspection Co Ltd | Apparatus and method for inspecting pipe |
US20090038398A1 (en) * | 2003-11-14 | 2009-02-12 | Hydro-Quebec | Motorized bracelet assembly for moving sensor modules around a pipe |
US7398697B2 (en) * | 2004-11-03 | 2008-07-15 | Shell Oil Company | Apparatus and method for retroactively installing sensors on marine elements |
US7852073B2 (en) * | 2007-06-25 | 2010-12-14 | Southwest Research Institute | Method and device for long-range torsional guided-wave inspection of piping with a partial excitation and detection around the pipe circumference |
US20100275694A1 (en) * | 2009-05-04 | 2010-11-04 | Westinghouse Electric Company, Llc | Pipe scanner |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110219881A1 (en) * | 2010-01-28 | 2011-09-15 | Girndt Richard J | Method and apparatus for inspecting flaws in oil field tubulars |
US8931344B2 (en) * | 2010-01-28 | 2015-01-13 | Richard J. Girndt | Method and apparatus for inspecting flaws in oil field tubulars |
US20150308981A1 (en) * | 2014-04-25 | 2015-10-29 | Bwxt Intech, Inc. | Inspection system for inspecting in-service piping or tubing |
US9638670B2 (en) * | 2014-04-25 | 2017-05-02 | Bwxt Intech, Inc. | Inspection system for inspecting in-service piping or tubing |
Also Published As
Publication number | Publication date |
---|---|
WO2010126764A3 (en) | 2010-12-23 |
WO2010126764A2 (en) | 2010-11-04 |
KR101620658B1 (en) | 2016-05-12 |
ES2419705T3 (en) | 2013-08-21 |
JP2012525588A (en) | 2012-10-22 |
JP5575878B2 (en) | 2014-08-20 |
EP2425435A2 (en) | 2012-03-07 |
US20100275691A1 (en) | 2010-11-04 |
EP2425435B1 (en) | 2013-06-05 |
KR20120009472A (en) | 2012-02-01 |
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